Advances in robotic systems. Part 1 of 2 by Leondes, Cornelius T PDF

By Leondes, Cornelius T

ISBN-10: 0120127393

ISBN-13: 9780120127399

Meant for engineers, electric engineers and keep watch over engineers, this ebook presents assurance of the most recent advances in robot platforms, from the applying of neural networks to robotics

Show description

Read Online or Download Advances in robotic systems. Part 1 of 2 PDF

Similar theory books

Download PDF by James Glimm, Arthur Jaffe (auth.), Maurice Lévy, Pronob: New Developments in Quantum Field Theory and Statistical

The 1976 Cargese summer season Institute used to be dedicated to the learn of yes intriguing advancements in quantum box thought and significant phenomena. Its genesis happened in 1974 as an outgrowth of many clinical discussions among the undersigned, who determined to shape a systematic committee for the association of the college.

Download PDF by Gail A. Carpenter, Stephen Grossberg (auth.), J. G. Taylor: Theory and Applications of Neural Networks: Proceedings of

This quantity includes the papers from the 1st British Neural community Society assembly held at Queen Elizabeth corridor, King's university, London on 18--20 April 1990. The assembly used to be backed by way of the London Mathemati­ cal Society. The papers comprise introductory instructional lectures, invited, and contributed papers.

Clustering and Information Retrieval by Weili Wu, Hui Xiong, S. Shekhar PDF

Clustering is a crucial strategy for locating particularly dense sub-regions or sub-spaces of a multi-dimension info distribution. Clus­ tering has been utilized in info retrieval for plenty of diverse reasons, comparable to question enlargement, record grouping, record indexing, and visualization of seek effects.

Download e-book for iPad: Theory of Differential Equations with Unbounded Delay by V. Lakshmikantham, Lizhi Wen, Binggen Zhang

As the conception of equations with hold up phrases happens in quite a few contexts, it is very important supply a framework, each time attainable, to address as many instances as attainable at the same time so that it will deliver out a greater perception and figuring out of the sophisticated transformations of a number of the equations with delays.

Additional info for Advances in robotic systems. Part 1 of 2

Example text

Another difficulty which arises with specialized learning is that back- APPLICATIONS OF NEURAL NETWORK TO ROBOTICS 33 propagation cannot be used directly since the error arises at the output of the controlled system and not at the output of the neural network. It has been suggested that a solution to this problem is to have the errors propagate through the plant as if it were an additional layer with unmodifiable weights [33]. This leads back to the question of plant identification. A complete solution to the inverse dynamics problem has been presented by Kawato et al [17, 31].

Representation of A Collision-Free Path W e first introduce the via point representation of a path, where a r path is described b } a set of via points and is approximated by the line segments between the adjacent via points, as shown in Figure 22. This representation has two advantages: 1) we can achieve an arbitrary level of precision of a path by assigning a sufficient number of via points, 2) we can d e c o m p o s e the original problem into a set of uniform, small-sized tasks in which the relation between a point and obstacles is of a major concern, and 3) we can localize a path planning problem at individual via points, allowing massive parallel and distributed computing.

In the case where Τ is very small, the network acts like a switch: it produces " 1 " for a via point inside the obstacle, and " 0 " for a via point outside the obstacle. The shape of the surface of a collision penalty function becomes almost flat everywhere except near the obstacle boundary where a cliff appears. This makes via points hard to move along the surface. Using the re- lationship between the parameter Τ and the shape of the surface of a penalty function, we achieve the effect of simulated annealing b y slowly decreasing Τ from the sufficiently high temperature.

Download PDF sample

Advances in robotic systems. Part 1 of 2 by Leondes, Cornelius T


by Robert
4.0

Rated 4.39 of 5 – based on 29 votes